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    <div class="mermaid">
        flowchart TB
subgraph robot
  robot/op[op]
end
subgraph plot
  plot/op[/op\]
end
subgraph object_detection
  object_detection/op[op]
end
subgraph planning
  planning/op[op]
end
subgraph ___dora___ [dora]
  subgraph ___timer_timer___ [timer]
    dora/timer/millis/50[\millis/50/]
  end
end
  planning/op -- blaster --> robot/op
  planning/op -- control --> robot/op
  planning/op -- led --> robot/op
  planning/op -- stop --> robot/op
  dora/timer/millis/50 -- tick --> robot/op
  object_detection/op -- bbox --> plot/op
  robot/op -- image --> plot/op
  robot/op -- image --> object_detection/op
  object_detection/op -- bbox --> planning/op
  robot/op -- position --> planning/op

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    <script src="https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js"></script>
    <script>mermaid.initialize({ startOnLoad: true, securityLevel: 'loose' });
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